CN105240335A

CN105240335A - Manipulator joint

Info

Publication number: CN105240335A
Application number: CN201510762644.9A
Authority: CN
Inventors: 陈科州
Original assignee: Liuzhou Liwan Technology Co Ltd
Current assignee: Liuzhou Liwan Technology Co Ltd
Priority date: 2015-11-11
Filing date: 2015-11-11
Publication date: 2016-01-13
Anticipated expiration: 2035-11-11
Also published as: CN105240335B

Abstract

The invention discloses a manipulator joint, and relates to the technical field of mechanical manufacturing. The manipulator joint comprises a round pipe type valve body provided with an oil access channel, wherein a lower cavity and an upper cavity communicated with the external are axially arranged at the two ends of the valve body, and are communicated through an oil return cavity; radial through holes communicated with the external are respectively formed in the side walls of the lower cavity, the upper cavity and the oil return cavity; the lower cavity and the upper cavity are correspondingly provided with a lower valve core and an upper valve core; and radial through holes are formed in opposite positions of the side walls of the lower valve core and the upper valve core; end covers are arranged at the two ends of the valve body; a rotating shaft is arranged in the valve body; and one end of the rotating shaft extends outside the end cover at one side of the valve body. The manipulator joint can solve the problems of weak impact resistance and smaller manipulator lifting force in a traditional manipulator joint connecting device.

Description

Manipulator joint

Technical field

The present invention relates to machinery manufacturing technology field, especially a kind of hydraulic pressure arm joint assembly on mechanical arm.

Background technique

Mechanism hand can substitute various danger that people is engaged in, onerous toil under hostile environments, is widely used in industries such as machine-building, metallurgy, electronics, light industrys; The mechanism hand of existing hydraulic control is all made up of joint, connecting plate, support, gripping head, hydraulic control system etc. substantially, wherein joint is most important action component, joint assembly generally adopts motor acceleration and deceleration device structure, rigidity is large, be subject to impacting rear easy damage, further, the available lifting limited strength of joint assembly, mechanism hand can only mention lighter weight.

Summary of the invention

The object of this invention is to provide a kind of manipulator joint, it can solve the problem that current manipulator joint connection set shock resistance is poor, mechanism hand lifting force is less.

In order to solve the problem, the technical solution used in the present invention is:

A kind of manipulator joint, comprise the valve body that is provided with the circular tube shaped into oil discharge passage, the two ends of described valve body are axially arranged with the lower chambers and upper chamber that communicate with outside, by oil return chamber between described lower chambers and described upper chamber, the sidewall of described lower chambers, upper chamber and oil return chamber is respectively equipped with the radial direction through hole communicated with outside; In described lower chambers and described upper chamber, correspondence is provided with lower valve core and upper valve core, the relative position of the sidewall of described lower valve core, upper valve core is provided with a radial direction through hole, the two ends of described valve body are provided with end cap, be provided with rotatingshaft in described valve body, a side end cap of described valve body is stretched out in one end of described rotatingshaft.

In above technological scheme, further scheme can be: described valve body two ends communicate with outside, and its upper chamber and lower chambers are provided with groove near described oil return chamber place, is provided with positive stop lug boss near outer end.

Further: the large axial hole such as to be provided with in the middle of described lower valve core and described upper valve core, the equal diameters of described axial hole and described oil return chamber, described lower valve core and described upper valve core are provided with seal ring near described oil return chamber place; The outer end of described lower valve core and described upper valve core is provided with bearing, and described lower valve core and described upper valve core are provided with limited impression.

Further: described rotatingshaft is multidiameter shaft, its Outside diameter is equal with described axial hole, axial bore is provided with in the middle part of the large end of described rotatingshaft, its radial direction is respectively equipped with three radial semiaxis grooves, position corresponding described lower chambers, upper chamber and the described oil return chamber respectively of described semiaxis groove, described semiaxis groove is by described axial bore intercommunication.

Further: to be provided with seal ring between described valve body and described end cap, and to be fastened by bolts.

Further: described rotatingshaft stretches out described lower end cap place and is provided with shaft seal.

Owing to have employed technique scheme, the present invention compared with prior art has following beneficial effect:

1, manipulator joint of the present invention arranges two spools relatively set up by being provided with at one in the valve body of oil discharge passage, rotatingshaft is provided with in the axial hole of spool, controlled the break-make of the oil outlet of joint assembly by the angle of swing controlling rotatingshaft, reach the object controlling manipulator joint component pressure oil and export; 2, joint assembly assembly of the present invention has the particle of compact structure, can be the lifting force that mechanism hand provides larger.

Accompanying drawing explanation

Fig. 1 is plan view of the present invention.

Fig. 2 is the plan view of valve body.

Fig. 3 is the plan view of valve body.

Fig. 4 is the plan view of lower valve core.

Fig. 5 is the plan view of lower valve core.

Fig. 6 is the left view of lower valve core.

Fig. 7 is the plan view of rotatingshaft.

Fig. 8 is the left view of rotatingshaft.

Fig. 9 is the hydraulic schematic diagram of work of the present invention.

Embodiment

Below in conjunction with drawings and Examples, the present invention is further described:

This manipulator joint, as shown in Fig. 1 ~ Fig. 8, comprise a valve body 1 be provided with into the circular tube shaped of oil discharge passage, the two ends of valve body 1 are axially arranged with the upper chamber 19 and lower chambers 21 that communicate with outside, oil return chamber 20 is provided with between upper chamber 19 and lower chambers 21, upper chamber 19, lower chambers 21 and oil return chamber 20 are hole shape, upper chamber 19, lower chambers 21 and oil return chamber 20 are respectively equipped with the radial direction through hole communicated with outside at the homonymy of sidewall, in the present embodiment, radial direction through hole is divided into through hole 7, middle through hole 8 and lower through-hole 10, wherein go up through hole 7 to communicate with upper chamber 19, middle through hole 8 communicates with oil return chamber 20, lower through-hole 10 communicates with lower chambers 21, upper chamber 19 and lower chambers 21 are provided with positive stop lug boss near outer end, in the present embodiment, positive stop lug boss is divided into upper limit boss 6 and lower limit boss 17, upper chamber 19 and lower chambers 21 are provided with the upper valve core 2 and lower valve core 11 that are oppositely arranged, are provided with the equal axial hole in aperture, the equal diameters of axial hole and oil return chamber 20 in the middle of upper valve core 2 and lower valve core 11, as shown in Figure 1, the right side wall of upper valve core 2 is provided with a upper rectangular through-hole 13, and the position that the left side wall of lower valve core 11 is provided with a lower rectangular through-hole 9, two rectangular through-hole is that 180o is oppositely arranged, the two ends of valve body 1 are provided with end cap, end cap divides upper end cap 3 and lower end cap 12, upper end cap 3 and lower end cap 12 by bolt and valve body 1 fastening, between upper end cap 3 and the upper end portion of valve body 1, be provided with seal ring 34, between the underpart of lower end cap 12 and valve body 1, be provided with lower seal 18.

Be provided with rotatingshaft 4 in valve body 1, a side end cap of valve body 1 is stretched out in one end of rotatingshaft 4, and in the present embodiment, rotatingshaft 4 stretches out lower end cap 12, between upper end cap 3 and upper valve core 2, be provided with upper bearing (metal) 5 and be provided with lower bearing 16 between lower end cap 12 and lower valve core 11, upper chamber 19 and lower chambers 21, being respectively equipped with upper groove 22 and low groove 23 near oil return chamber 20 place, are separately installed with inner seal ring 14 and lower inner seal ring 15 in upper groove 22 and low groove 23, rotatingshaft 4 is the multidiameter shaft of two sections, the wherein diameter of large end and upper valve core 2, the axial hole of lower valve core 11 is equal, the middle part of its large end is provided with axial bore 24, axial bore 24 leads to inside from the large end of rotatingshaft 4, the radial direction of rotatingshaft 4 is respectively equipped with three radial semiaxis grooves, semiaxis groove is respectively semiaxis groove 25, middle semiaxis groove 26 and lower semiaxis groove 27, the corresponding upper chamber 19 in position of upper semiaxis groove 25, the corresponding oil return chamber 20 in position of middle semiaxis groove 26, the corresponding lower chambers 21 in position of lower semiaxis groove 27, upper semiaxis groove 25, by axial bore 24 intercommunication between middle semiaxis groove 26 and lower semiaxis groove 27, the small end of rotatingshaft 4, through lower end cap 12, is provided with shaft seal 35 between rotatingshaft small end and lower end cap 12, upper valve core 2 and lower valve core 11 are respectively equipped with limited impression 37, when upper valve core 2 and lower valve core 11 put into upper chamber 19, lower chambers 21, the upper limit boss 6 of upper valve core 2 and lower valve core 11 and lower limit boss 17 are just stuck on the limited impression 37 of upper chamber 19, lower chambers 21.

As shown in Figure 9, upper through hole 7 is connected by the rod chamber of pipeline with oil cylinder 28, and by the first oil pump 31 to fuel feeding in pipeline; Lower through-hole 10 is connected by the rodless cavity of pipeline with oil cylinder 28, and by the second oil pump 32 to fuel feeding in pipeline, arranges the solenoid valve 33 of synchronous break-make in two pipelines; Middle through hole 8 is by the direct oil sump tank 29 of pipeline; During work, power-on, solenoid valve 33 is connected, after now starting the second oil pump 32, hydraulic oil enters rodless cavity and the lower through-hole 10 of oil cylinder 28, because now hydraulic oil enters valve body 1 through lower through-hole 10, valve body 1 oil sump tank is flowed out again through lower chambers 21, lower rectangular through-hole 9, lower semiaxis groove 27, axial bore 24, oil return chamber 20, middle through hole 8, therefore, the second oil pump 32 is in unloading condition, and oil cylinder 28 is failure to actuate; Start stepper motor 30 simultaneously, make rotatingshaft 4 rotate an angle, when rotatingshaft 4 rotates certain angle, the large end of rotatingshaft 4 closes lower rectangular through-hole 9 gradually, now hydraulic oil enters the rodless cavity of oil cylinder 28, and the piston rod of oil cylinder 28 is protruding, provides lifting action; When stepper motor 30 obtains the stop signal that encoder (not shown) sends, stepper motor 30 stops operating, and solenoid valve 33 disconnects, oil cylinder 28 stops action, mechanism hand (not shown) stops at an aerial position, and so far, mechanism hand completes a lifting process; Otherwise, solenoid valve 33 is connected, after starting the first oil pump 31, hydraulic oil enters rod chamber and the upper through hole 7 of oil cylinder 28, if now go up rectangular through-hole 13 to communicate with upper chamber 19, hydraulic oil flows back to fuel tank through upper through hole 7, upper chamber 19, upper rectangular through-hole 13, upper semiaxis groove 25, axial bore 24, oil return chamber 20, middle through hole 8, and the first oil pump 31 is in unloading condition, and oil cylinder 28 is failure to actuate; Start stepper motor 30, stepper motor 30 drives rotatingshaft 4 to turn over an angle, and the large end of rotatingshaft 4 closes upper rectangular through-hole 13 gradually, and now hydraulic oil enters the rod chamber of oil cylinder 28, and the piston rod of oil cylinder 28 is inwardly stretched back; When stepper motor 30 obtains the stop signal that encoder (not shown) sends, stepper motor 30 stops operating, and solenoid valve 33 disconnects, and oil cylinder 28 stops action, and mechanism hand (not shown) stops at an aerial position.

Claims

1. a manipulator joint, it is characterized in that: comprise the valve body that is provided with the circular tube shaped into oil discharge passage, the two ends of described valve body are axially arranged with the lower chambers and upper chamber that communicate with outside, by oil return chamber between described lower chambers and described upper chamber, the sidewall of described lower chambers, upper chamber and oil return chamber is respectively equipped with the radial direction through hole communicated with outside; In described lower chambers and described upper chamber, correspondence is provided with lower valve core and upper valve core, the relative position of the sidewall of described lower valve core, upper valve core is provided with a radial direction through hole, the two ends of described valve body are provided with end cap, be provided with rotatingshaft in described valve body, a side end cap of described valve body is stretched out in one end of described rotatingshaft.

2. manipulator joint according to claim 1, is characterized in that: described valve body two ends communicate with outside, and its upper chamber and lower chambers are provided with groove near described oil return chamber place, is provided with positive stop lug boss near outer end.

3. manipulator joint according to claim 1, it is characterized in that: the large axial hole such as in the middle of described lower valve core and described upper valve core, to be provided with, the equal diameters of described axial hole and described oil return chamber, described lower valve core and described upper valve core are provided with seal ring near described oil return chamber place; The outer end of described lower valve core and described upper valve core is provided with bearing, and described lower valve core and described upper valve core are provided with limited impression.

4. manipulator joint according to claim 3, it is characterized in that: described rotatingshaft is multidiameter shaft, its Outside diameter is equal with described axial hole, axial bore is provided with in the middle part of the large end of described rotatingshaft, its radial direction is respectively equipped with three radial semiaxis grooves, position corresponding described lower chambers, upper chamber and the described oil return chamber respectively of described semiaxis groove, described semiaxis groove is by described axial bore intercommunication.

5. manipulator joint according to claim 4, is characterized in that: be provided with seal ring between described valve body and described end cap, and be fastened by bolts.

6. manipulator joint according to claim 5, is characterized in that: described rotatingshaft stretches out described lower end cap place and is provided with shaft seal.